def render(self, renderType=RENDER_OBJECT):
for T in self.Ts:
if T != None:
glPushMatrix()
glMultMatrixf(T.transpose())
ygh.drawCoordinate(self.totalColor, self.axisLength)
glPopMatrix()
def render(self):
for i in range(len(self.Rs)):
if self.Rs[i] != None and self.ps[i] != None:
T = mm.Rp2T(self.Rs[i], self.ps[i])
glPushMatrix()
glMultMatrixf(T.transpose())
ygh.drawCoordinate(self.totalColor, self.axisLength)
glPopMatrix()
def drawAxis(self):
# glBegin(GL_LINES)
# glColor3f(1,0,0)
# glVertex3f(0.2,0,0)
# glVertex3f(0,0,0)
# glColor3f(0,1,0)
# glVertex3f(0,0.2,0)
# glVertex3f(0,0,0)
# glColor3f(0,0,1)
# glVertex3f(0,0,0.2)
# glVertex3f(0,0,0)
# glEnd()
ygh.drawCoordinate((255, 255, 255), self.camera.distance * .08)
def renderSelectedOdeGeom(self, geom, color):
if type(geom) == ode.GeomBox:
lx, ly, lz = geom.getLengths()
x, y, z = geom.getPosition()
R = geom.getRotation()
se3 = [
R[0], R[3], R[6], 0., R[1], R[4], R[7], 0., R[2], R[5], R[8],
0., x, y, z, 1.0
]
glPushMatrix()
glMultMatrixd(se3)
ygh.drawCoordinate(color)
glScaled(1.1, 1.1, 1.1)
glTranslated(-lx / 2., -ly / 2., -lz / 2.)
self.drawBox(lx, ly, lz)
glPopMatrix()
def _renderJoint(self, joint, posture):
glPushMatrix()
glTranslatef(joint.offset[0], joint.offset[1], joint.offset[2])
# glMultMatrixf(mm.R2T(posture.localRMap[joint.name]).transpose())
glMultMatrixf(
mm.R2T(posture.localRs[posture.skeleton.getElementIndex(
joint.name)]).transpose())
# if joint.name in self.partColors:
# color = self.partColors[joint.name]
# else:
# color = self.totalColor
if joint == self.selectedElement:
glColor3ubv(SELECTION_COLOR)
ygh.beginDraw()
ygh.drawCoordinate()
ygh.endDraw()
# 1
# ygh.drawPoint((0,0,0), color)
if self.linkStyle == LINK_LINE:
self.rc.drawPoint((0, 0, 0))
for childJoint in joint.children:
self.rc.drawLine((0, 0, 0), childJoint.offset)
elif self.linkStyle == LINK_BONE:
# self.rc.drawPoint((0,0,0))
self.rc.drawLine((-.05, 0, 0), (.05, 0, 0))
for childJoint in joint.children:
self.rc.drawLine((0, 0, 0), childJoint.offset)
elif self.linkStyle == LINK_SOLIDBOX or self.linkStyle == LINK_WIREBOX:
if len(joint.children) > 0:
glPushMatrix()
offset = numpy.array([0., 0., 0.])
for childJoint in joint.children:
offset += childJoint.offset
offset = offset / len(joint.children)
defaultBoneV = numpy.array([0, 0, mm.length(offset)])
boneT = mm.R2T(mm.getSO3FromVectors(defaultBoneV, offset))
glMultMatrixf(boneT.transpose())
glTranslatef(-.05, -.05, 0)
# ygh.beginDraw()
# ygh.drawCoordinate()
# ygh.endDraw()
self.rc.drawBox(.1, .1, mm.length(offset))
glPopMatrix()
if joint == self.selectedElement:
glColor3ubv(self.totalColor)
for childJoint in joint.children:
self._renderJoint(childJoint, posture)
glPopMatrix()